Unit tests for Obstacle Avoidance interface

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp

@@ -157,12 +157,6 @@ class FlightTask : public ModuleParams
 	 */
 	static const landing_gear_s empty_landing_gear_default_keep;
 
-	/**
-	 * Empty desired waypoints.
-	 * All waypoints are set to NAN.
-	 */
-	static const vehicle_trajectory_waypoint_s empty_trajectory_waypoint;
-
 	/**
 	 * Call this whenever a parameter update notification is received (parameter_update uORB message)
 	 */

src/lib/FlightTasks/tasks/Utility/CMakeLists.txt

@@ -39,7 +39,8 @@ px4_add_library(FlightTaskUtility
 	VelocitySmoothing.cpp
 )
 
-target_link_libraries(FlightTaskUtility PUBLIC FlightTask)
+target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS FlightTaskUtility)
+px4_add_functional_gtest(SRC ObstacleAvoidanceTest.cpp LINKLIBS FlightTaskUtility)

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp

@@ -46,15 +46,6 @@ static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
 static constexpr uint64_t TIME_BEFORE_FAILSAFE = 500_ms;
 static constexpr uint64_t Z_PROGRESS_TIMEOUT_US = 2_s;
 
-const vehicle_trajectory_waypoint_s empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
-	{	{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
-		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
-		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
-		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
-		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}}
-	}
-};
-
 ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
 	ModuleParams(parent)
 {

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -60,6 +60,15 @@
 
 #include <SubscriptionArray.hpp>
 
+const vehicle_trajectory_waypoint_s empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
+	{	{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
+		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
+		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
+		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}},
+		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, UINT8_MAX, {0, 0}}
+	}
+};
+
 class ObstacleAvoidance : public ModuleParams
 {
 public:
@@ -108,15 +117,11 @@ class ObstacleAvoidance : public ModuleParams
 	void checkAvoidanceProgress(const matrix::Vector3f &pos, const matrix::Vector3f &prev_wp,
 				    float target_acceptance_radius, const matrix::Vector2f &closest_pt);
 
-private:
+protected:
 
 	uORB::SubscriptionPollable<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
 	uORB::SubscriptionPollable<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad    /**< Acceptance radius for multicopter altitude */
-	);
-
 	vehicle_trajectory_waypoint_s _desired_waypoint{};  /**< desired vehicle trajectory waypoint to be sent to OA */
 
 	uORB::Publication<vehicle_trajectory_waypoint_s> _pub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)};	/**< trajectory waypoint desired publication */
@@ -139,4 +144,8 @@ class ObstacleAvoidance : public ModuleParams
 	 */
 	void _publishVehicleCmdDoLoiter();
 
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad    /**< Acceptance radius for multicopter altitude */
+	);
+
 };

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidanceTest.cpp

@@ -0,0 +1,207 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <ObstacleAvoidance.hpp>
+#include <uORB/Subscription.hpp>
+
+
+using namespace matrix;
+// to run: make tests TESTFILTER=CollisionPrevention
+
+class ObstacleAvoidanceTest : public ::testing::Test
+{
+public:
+	SubscriptionArray subscription_array;
+	Vector3f pos_sp;
+	Vector3f vel_sp;
+	float yaw_sp = 0.123f;
+	float yaw_speed_sp = NAN;
+	void SetUp() override
+
+	{
+		param_reset_all();
+		pos_sp = Vector3f(1.f, 1.2f, 0.1f);
+		vel_sp = Vector3f(0.3f, 0.4f, 0.1f);
+	}
+};
+
+class TestObstacleAvoidance : public ::ObstacleAvoidance
+{
+public:
+	TestObstacleAvoidance() : ObstacleAvoidance(nullptr) {}
+	void paramsChanged() {ObstacleAvoidance::updateParamsImpl();}
+	void test_setPosition(Vector3f &pos) {_position = pos;}
+};
+
+TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); }
+
+TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
+{
+	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
+	// from offboard
+	TestObstacleAvoidance oa;
+	oa.initializeSubscriptions(subscription_array);
+
+	vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
+	message.timestamp = hrt_absolute_time();
+	message.type = vehicle_trajectory_waypoint_s::MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS;
+	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0] = 2.6f;
+	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1] = 2.4f;
+	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2] = 2.7f;
+	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw = 0.23f;
+	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid = true;
+
+	// GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle status message
+	orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message);
+	orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message);
+
+	vehicle_status_s vehicle_status{};
+	vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
+	orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status);
+	orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status);
+
+	subscription_array.update();
+
+	// WHEN: we inject the vehicle_trajectory_waypoint in the interface
+	oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);
+
+	// THEN: the setpoints should be injected
+	EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0], pos_sp(0));
+	EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1], pos_sp(1));
+	EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2], pos_sp(2));
+	EXPECT_TRUE(vel_sp.isAllNan());
+	EXPECT_FLOAT_EQ(message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw, yaw_sp);
+	EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp));
+}
+
+TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
+{
+	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message
+	TestObstacleAvoidance oa;
+	oa.initializeSubscriptions(subscription_array);
+
+	vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
+	Vector3f pos(3.1f, 4.7f, 5.2f);
+	oa.test_setPosition(pos);
+
+	// GIVEN: and we publish the vehicle_trajectory_waypoint message and vehicle_status
+	orb_advert_t vehicle_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &message);
+	orb_publish(ORB_ID(vehicle_trajectory_waypoint), vehicle_trajectory_waypoint_pub, &message);
+
+	vehicle_status_s vehicle_status{};
+	vehicle_status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
+	orb_advert_t vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &vehicle_status);
+	orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &vehicle_status);
+
+	subscription_array.update();
+
+	// WHEN: we inject the vehicle_trajectory_waypoint in the interface
+	oa.injectAvoidanceSetpoints(pos_sp, vel_sp, yaw_sp, yaw_speed_sp);
+
+	// THEN: the setpoints shouldn't be injected
+	EXPECT_FLOAT_EQ(pos(0), pos_sp(0));
+	EXPECT_FLOAT_EQ(pos(1), pos_sp(1));
+	EXPECT_FLOAT_EQ(pos(2), pos_sp(2));
+	EXPECT_TRUE(vel_sp.isAllNan());
+	EXPECT_FALSE(PX4_ISFINITE(yaw_sp));
+	EXPECT_FALSE(PX4_ISFINITE(yaw_speed_sp));
+}
+
+TEST_F(ObstacleAvoidanceTest, oa_desired)
+{
+	// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto
+	TestObstacleAvoidance oa;
+	oa.initializeSubscriptions(subscription_array);
+
+	pos_sp = Vector3f(1.f, 1.2f, NAN);
+	vel_sp = Vector3f(NAN, NAN, 0.7f);
+	int type = 4;
+	Vector3f curr_wp(1.f, 1.2f, 5.0f);
+	float curr_yaw = 1.02f;
+	float curr_yawspeed = NAN;
+	Vector3f next_wp(11.f, 1.2f, 5.0f);
+	float next_yaw = 0.82f;
+	float next_yawspeed = NAN;
+	bool ext_yaw_active = false;
+
+	// WHEN: we inject the setpoints and waypoints in the interface
+	oa.updateAvoidanceDesiredWaypoints(curr_wp, curr_yaw, curr_yawspeed, next_wp, next_yaw, next_yawspeed, ext_yaw_active,
+					   type);
+	oa.updateAvoidanceDesiredSetpoints(pos_sp, vel_sp, type);
+
+	// WHEN: we subscribe to the uORB message out of the interface
+	uORB::SubscriptionData<vehicle_trajectory_waypoint_s> _sub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)};
+	_sub_traj_wp_avoidance_desired.update();
+
+	// THEN: we expect the setpoints in POINT_0 and waypoints in POINT_1 and POINT_2
+	EXPECT_FLOAT_EQ(pos_sp(0),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0]);
+	EXPECT_FLOAT_EQ(pos_sp(1),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1]);
+	EXPECT_FALSE(PX4_ISFINITE(
+			     _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2]));
+	EXPECT_FALSE(PX4_ISFINITE(
+			     _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[0]));
+	EXPECT_FALSE(PX4_ISFINITE(
+			     _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[1]));
+	EXPECT_FLOAT_EQ(vel_sp(2),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[2]);
+	EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].type);
+	EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid);
+
+	EXPECT_FLOAT_EQ(curr_wp(0),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[0]);
+	EXPECT_FLOAT_EQ(curr_wp(1),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[1]);
+	EXPECT_FLOAT_EQ(curr_wp(2),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].position[2]);
+	EXPECT_FLOAT_EQ(curr_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw);
+	EXPECT_FALSE(PX4_ISFINITE(
+			     _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed));
+	EXPECT_EQ(type, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].type);
+	EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_1].point_valid);
+
+	EXPECT_FLOAT_EQ(next_wp(0),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[0]);
+	EXPECT_FLOAT_EQ(next_wp(1),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[1]);
+	EXPECT_FLOAT_EQ(next_wp(2),
+			_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].position[2]);
+	EXPECT_FLOAT_EQ(next_yaw, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw);
+	EXPECT_FALSE(PX4_ISFINITE(
+			     _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw_speed));
+	EXPECT_EQ(UINT8_MAX, _sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].type);
+	EXPECT_TRUE(_sub_traj_wp_avoidance_desired.get().waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid);
+
+}